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<div class="title">particle_filter_omp.h</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="preprocessor">#ifndef PCL_TRACKING_PARTICLE_FILTER_OMP_H_</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="preprocessor">#define PCL_TRACKING_PARTICLE_FILTER_OMP_H_</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160; </div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="preprocessor">#include &lt;pcl/tracking/tracking.h&gt;</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="preprocessor">#include &lt;pcl/tracking/particle_filter.h&gt;</span></div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="preprocessor">#include &lt;pcl/tracking/coherence.h&gt;</span></div>
<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160; </div>
<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="keyword">namespace </span>pcl</div>
<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;{</div>
<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;  <span class="keyword">namespace </span>tracking</div>
<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;  {</div>
<div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;    <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>InT, <span class="keyword">typename</span> StateT&gt;</div>
<div class="line"><a name="l00019"></a><span class="lineno"><a class="line" href="classpcl_1_1tracking_1_1_particle_filter_o_m_p_tracker.html">   19</a></span>&#160;    <span class="keyword">class </span><a class="code" href="classpcl_1_1tracking_1_1_particle_filter_o_m_p_tracker.html">ParticleFilterOMPTracker</a>: <span class="keyword">public</span> <a class="code" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html">ParticleFilterTracker</a>&lt;PointInT, StateT&gt;</div>
<div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;    {</div>
<div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;    <span class="keyword">public</span>:</div>
<div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1tracking_1_1_tracker.html">Tracker&lt;PointInT, StateT&gt;::tracker_name_</a>;</div>
<div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1tracking_1_1_tracker.html">Tracker&lt;PointInT, StateT&gt;::search_</a>;</div>
<div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1tracking_1_1_tracker.html">Tracker&lt;PointInT, StateT&gt;::input_</a>;</div>
<div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1tracking_1_1_tracker.html">Tracker&lt;PointInT, StateT&gt;::indices_</a>;</div>
<div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1tracking_1_1_tracker.html">Tracker&lt;PointInT, StateT&gt;::getClassName</a>;</div>
<div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html">ParticleFilterTracker&lt;PointInT, StateT&gt;::particles_</a>;</div>
<div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html">ParticleFilterTracker&lt;PointInT, StateT&gt;::change_detector_</a>;</div>
<div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html">ParticleFilterTracker&lt;PointInT, StateT&gt;::change_counter_</a>;</div>
<div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html">ParticleFilterTracker&lt;PointInT, StateT&gt;::change_detector_interval_</a>;</div>
<div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html">ParticleFilterTracker&lt;PointInT, StateT&gt;::use_change_detector_</a>;</div>
<div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html">ParticleFilterTracker&lt;PointInT, StateT&gt;::alpha_</a>;</div>
<div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html">ParticleFilterTracker&lt;PointInT, StateT&gt;::changed_</a>;</div>
<div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html">ParticleFilterTracker&lt;PointInT, StateT&gt;::coherence_</a>;</div>
<div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html">ParticleFilterTracker&lt;PointInT, StateT&gt;::use_normal_</a>;</div>
<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html">ParticleFilterTracker&lt;PointInT, StateT&gt;::particle_num_</a>;</div>
<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html">ParticleFilterTracker&lt;PointInT, StateT&gt;::change_detector_filter_</a>;</div>
<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html">ParticleFilterTracker&lt;PointInT, StateT&gt;::transed_reference_vector_</a>;</div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;      <span class="comment">//using ParticleFilterTracker&lt;PointInT, StateT&gt;::calcLikelihood;</span></div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html">ParticleFilterTracker&lt;PointInT, StateT&gt;::normalizeWeight</a>;</div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html">ParticleFilterTracker&lt;PointInT, StateT&gt;::normalizeParticleWeight</a>;</div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html">ParticleFilterTracker&lt;PointInT, StateT&gt;::calcBoundingBox</a>;</div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160; </div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;      <span class="keyword">typedef</span> <a class="code" href="classpcl_1_1tracking_1_1_tracker.html">Tracker&lt;PointInT, StateT&gt;</a> <a class="code" href="classpcl_1_1tracking_1_1_tracker.html">BaseClass</a>;</div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;      </div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> <a class="code" href="classpcl_1_1_point_cloud.html">Tracker&lt;PointInT, StateT&gt;::PointCloudIn</a> <a class="code" href="classpcl_1_1_point_cloud.html">PointCloudIn</a>;</div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> PointCloudIn::Ptr PointCloudInPtr;</div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> PointCloudIn::ConstPtr PointCloudInConstPtr;</div>
<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160; </div>
<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> <a class="code" href="classpcl_1_1_point_cloud.html">Tracker&lt;PointInT, StateT&gt;::PointCloudState</a> <a class="code" href="classpcl_1_1_point_cloud.html">PointCloudState</a>;</div>
<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> PointCloudState::Ptr PointCloudStatePtr;</div>
<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> PointCloudState::ConstPtr PointCloudStateConstPtr;</div>
<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160; </div>
<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;      <span class="keyword">typedef</span> <a class="code" href="classpcl_1_1tracking_1_1_point_coherence.html">PointCoherence&lt;PointInT&gt;</a> <a class="code" href="classpcl_1_1tracking_1_1_point_coherence.html">Coherence</a>;</div>
<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;      <span class="keyword">typedef</span> boost::shared_ptr&lt; Coherence &gt; CoherencePtr;</div>
<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;      <span class="keyword">typedef</span> boost::shared_ptr&lt; const Coherence &gt; CoherenceConstPtr;</div>
<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160; </div>
<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;      <span class="keyword">typedef</span> <a class="code" href="classpcl_1_1tracking_1_1_point_cloud_coherence.html">PointCloudCoherence&lt;PointInT&gt;</a> <a class="code" href="classpcl_1_1tracking_1_1_point_cloud_coherence.html">CloudCoherence</a>;</div>
<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;      <span class="keyword">typedef</span> boost::shared_ptr&lt; CloudCoherence &gt; CloudCoherencePtr;</div>
<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;      <span class="keyword">typedef</span> boost::shared_ptr&lt; const CloudCoherence &gt; CloudCoherenceConstPtr;</div>
<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160; </div>
<div class="line"><a name="l00065"></a><span class="lineno"><a class="line" href="classpcl_1_1tracking_1_1_particle_filter_o_m_p_tracker.html#a5cf374f45d1735096ccbd5f4c85d575e">   65</a></span>&#160;      <a class="code" href="classpcl_1_1tracking_1_1_particle_filter_o_m_p_tracker.html#a5cf374f45d1735096ccbd5f4c85d575e">ParticleFilterOMPTracker</a> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> nr_threads = 0)</div>
<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;      : <a class="code" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html">ParticleFilterTracker</a>&lt;PointInT, StateT&gt; ()</div>
<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;      , <a class="code" href="classpcl_1_1tracking_1_1_particle_filter_o_m_p_tracker.html#ae7a291e121e3c8d8cea9b1508c44d66f">threads_</a> (nr_threads)</div>
<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;      {</div>
<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;        <a class="code" href="classpcl_1_1tracking_1_1_tracker.html#aaa1a7a91f381d951cc85c0c7f440f0ce">tracker_name_</a> = <span class="stringliteral">&quot;ParticleFilterOMPTracker&quot;</span>;</div>
<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;      }</div>
<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160; </div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00076"></a><span class="lineno"><a class="line" href="classpcl_1_1tracking_1_1_particle_filter_o_m_p_tracker.html#aecc187a85a0d252150c6ff60863b9f1f">   76</a></span>&#160;      <a class="code" href="classpcl_1_1tracking_1_1_particle_filter_o_m_p_tracker.html#aecc187a85a0d252150c6ff60863b9f1f">setNumberOfThreads</a> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> nr_threads = 0) { <a class="code" href="classpcl_1_1tracking_1_1_particle_filter_o_m_p_tracker.html#ae7a291e121e3c8d8cea9b1508c44d66f">threads_</a> = nr_threads; }</div>
<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;      </div>
<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;    <span class="keyword">protected</span>:</div>
<div class="line"><a name="l00080"></a><span class="lineno"><a class="line" href="classpcl_1_1tracking_1_1_particle_filter_o_m_p_tracker.html#ae7a291e121e3c8d8cea9b1508c44d66f">   80</a></span>&#160;      <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code" href="classpcl_1_1tracking_1_1_particle_filter_o_m_p_tracker.html#ae7a291e121e3c8d8cea9b1508c44d66f">threads_</a>;</div>
<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160; </div>
<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;      <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classpcl_1_1tracking_1_1_particle_filter_o_m_p_tracker.html#aef8d0b02ecfe408fd146574e58a29887">weight</a> ();</div>
<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160; </div>
<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;    };</div>
<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;  }</div>
<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;}</div>
<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160; </div>
<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;<span class="comment">//#include &lt;pcl/tracking/impl/particle_filter_omp.hpp&gt;</span></div>
<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;<span class="preprocessor">#ifdef PCL_NO_PRECOMPILE</span></div>
<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;<span class="preprocessor">#include &lt;pcl/tracking/impl/particle_filter_omp.hpp&gt;</span></div>
<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160; </div>
<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html"><div class="ttname"><a href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt; PointInT &gt;</a></div></div>
<div class="ttc" id="aclasspcl_1_1tracking_1_1_particle_filter_o_m_p_tracker_html"><div class="ttname"><a href="classpcl_1_1tracking_1_1_particle_filter_o_m_p_tracker.html">pcl::tracking::ParticleFilterOMPTracker</a></div><div class="ttdoc">ParticleFilterOMPTracker tracks the PointCloud which is given by setReferenceCloud within the measure...</div><div class="ttdef"><b>Definition:</b> particle_filter_omp.h:20</div></div>
<div class="ttc" id="aclasspcl_1_1tracking_1_1_particle_filter_o_m_p_tracker_html_a5cf374f45d1735096ccbd5f4c85d575e"><div class="ttname"><a href="classpcl_1_1tracking_1_1_particle_filter_o_m_p_tracker.html#a5cf374f45d1735096ccbd5f4c85d575e">pcl::tracking::ParticleFilterOMPTracker::ParticleFilterOMPTracker</a></div><div class="ttdeci">ParticleFilterOMPTracker(unsigned int nr_threads=0)</div><div class="ttdoc">Initialize the scheduler and set the number of threads to use.</div><div class="ttdef"><b>Definition:</b> particle_filter_omp.h:65</div></div>
<div class="ttc" id="aclasspcl_1_1tracking_1_1_particle_filter_o_m_p_tracker_html_ae7a291e121e3c8d8cea9b1508c44d66f"><div class="ttname"><a href="classpcl_1_1tracking_1_1_particle_filter_o_m_p_tracker.html#ae7a291e121e3c8d8cea9b1508c44d66f">pcl::tracking::ParticleFilterOMPTracker::threads_</a></div><div class="ttdeci">unsigned int threads_</div><div class="ttdoc">The number of threads the scheduler should use.</div><div class="ttdef"><b>Definition:</b> particle_filter_omp.h:80</div></div>
<div class="ttc" id="aclasspcl_1_1tracking_1_1_particle_filter_o_m_p_tracker_html_aecc187a85a0d252150c6ff60863b9f1f"><div class="ttname"><a href="classpcl_1_1tracking_1_1_particle_filter_o_m_p_tracker.html#aecc187a85a0d252150c6ff60863b9f1f">pcl::tracking::ParticleFilterOMPTracker::setNumberOfThreads</a></div><div class="ttdeci">void setNumberOfThreads(unsigned int nr_threads=0)</div><div class="ttdoc">Initialize the scheduler and set the number of threads to use.</div><div class="ttdef"><b>Definition:</b> particle_filter_omp.h:76</div></div>
<div class="ttc" id="aclasspcl_1_1tracking_1_1_particle_filter_o_m_p_tracker_html_aef8d0b02ecfe408fd146574e58a29887"><div class="ttname"><a href="classpcl_1_1tracking_1_1_particle_filter_o_m_p_tracker.html#aef8d0b02ecfe408fd146574e58a29887">pcl::tracking::ParticleFilterOMPTracker::weight</a></div><div class="ttdeci">virtual void weight()</div><div class="ttdoc">weighting phase of particle filter method. calculate the likelihood of all of the particles and set t...</div><div class="ttdef"><b>Definition:</b> particle_filter_omp.hpp:7</div></div>
<div class="ttc" id="aclasspcl_1_1tracking_1_1_particle_filter_tracker_html"><div class="ttname"><a href="classpcl_1_1tracking_1_1_particle_filter_tracker.html">pcl::tracking::ParticleFilterTracker</a></div><div class="ttdoc">ParticleFilterTracker tracks the PointCloud which is given by setReferenceCloud within the measured P...</div><div class="ttdef"><b>Definition:</b> particle_filter.h:23</div></div>
<div class="ttc" id="aclasspcl_1_1tracking_1_1_point_cloud_coherence_html"><div class="ttname"><a href="classpcl_1_1tracking_1_1_point_cloud_coherence.html">pcl::tracking::PointCloudCoherence</a></div><div class="ttdoc">PointCloudCoherence is a base class to compute coherence between the two PointClouds.</div><div class="ttdef"><b>Definition:</b> coherence.h:61</div></div>
<div class="ttc" id="aclasspcl_1_1tracking_1_1_point_coherence_html"><div class="ttname"><a href="classpcl_1_1tracking_1_1_point_coherence.html">pcl::tracking::PointCoherence</a></div><div class="ttdoc">PointCoherence is a base class to compute coherence between the two points.</div><div class="ttdef"><b>Definition:</b> coherence.h:18</div></div>
<div class="ttc" id="aclasspcl_1_1tracking_1_1_tracker_html"><div class="ttname"><a href="classpcl_1_1tracking_1_1_tracker.html">pcl::tracking::Tracker</a></div><div class="ttdoc">Tracker represents the base tracker class.</div><div class="ttdef"><b>Definition:</b> tracker.h:57</div></div>
<div class="ttc" id="aclasspcl_1_1tracking_1_1_tracker_html_aaa1a7a91f381d951cc85c0c7f440f0ce"><div class="ttname"><a href="classpcl_1_1tracking_1_1_tracker.html#aaa1a7a91f381d951cc85c0c7f440f0ce">pcl::tracking::Tracker::tracker_name_</a></div><div class="ttdeci">std::string tracker_name_</div><div class="ttdoc">The tracker name.</div><div class="ttdef"><b>Definition:</b> tracker.h:92</div></div>
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